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Axial deviation estimation apparatus

a technology of axial deviation and estimation apparatus, which is applied in the direction of image enhancement, instruments, and using reradiation, can solve the problem of not being able to accurately estimate and achieve the effect of accurately estimating the axial deviation of the in-vehicle sensor

Pending Publication Date: 2022-09-29
HONDA MOTOR CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Benefits of technology

The patent describes an invention that can accurately detect the direction a sensor is pointing in a vehicle. This invention allows for more accurate sensor readings, which can improve the performance of the vehicle's navigation system or other safety features.

Problems solved by technology

In the technique in the related art in which the axial deviation of the in-vehicle sensor is detected based on a detection result of the white lines (lane), it is not possible to accurately estimate the axial deviation of the in-vehicle sensor when one of the left and right white lines cannot he detected, when the detected white line is not a straight line, when the vehicle does not travel straight, or the like.

Method used

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Embodiment Construction

[0028]Hereinafter, an embodiment of an axial deviation estimation apparatus of the present invention will be described with reference to the drawings. Hereinafter, for convenience of description, a center of a vehicle body is defined as an origin, a front-rear (vehicle length) direction is defined as an X axis, a left-right (vehicle width) direction is defined as a Y axis, and an upper-lower direction is defined as a Z axis. Further, an X-axis direction or a Y-axis direction is appropriately referred to as a horizontal axis direction, and a Z-axis direction is appropriately referred to as a vertical axis direction.

[0029]A rotation direction with the X axis as an axis corresponds to a roll direction, a rotation direction with the Y axis as an axis corresponds to a pitch direction, and a rotation direction with the Z axis as an axis corresponds to a yaw direction, and the X axis corresponds to a roll axis, the Y axis corresponds to a pitch axis, and the Z axis corresponds to a yaw axi...

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Abstract

An axial deviation estimation apparatus of an in-vehicle sensor includes a road surface recognition unit configured to recognize a road surface by a laser radar installed in a vehicle, an estimation unit configured to estimate an axial deviation amount of the in-vehicle sensor mounted on the vehicle, and a plane creation unit configured to create a virtual plane of the road surface based on a recognition result of the road surface recognition unit. The estimation unit estimates the axial deviation amount based on an inclination of the virtual plane with respect to a reference plane of the laser radar.

Description

CROSS-REFERENCE TO RELATED APPLICATION[0001]The present application claims priority from Japanese Patent Application No. 2021-053743 filed on Mar. 26, 2021, the entire content of which is incorporated herein by reference.TECHNICAL FIELD[0002]The present invention relates to an axial deviation estimation apparatus.BACKGROUND ART[0003]In the related art, a technique for detecting an axial deviation of an in-vehicle sensor based on a detection result of a lane (white lines) in which a vehicle travels is known.[0004]JP-A-2003-307561 discloses a vehicle driving assistance apparatus that recognizes left and right lanes on a road from an image in a vehicle traveling direction captured by an in-vehicle camera, that estimates a posture angle of the vehicle based on a change in a horizontal line position in an image plane using an intersection of approximate straight lines in a captured image plane of the left and right lanes as the horizontal line position in the image plane, and that contro...

Claims

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Application Information

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Patent Type & Authority Applications(United States)
IPC IPC(8): G01S17/89G01S17/32G06V20/56G01S7/481B60W50/00G01S17/86G01S7/48
CPCG01S17/89G01S17/32G06V20/588G01S7/4817B60W50/0098G01S17/86G01S7/4808B60W2552/15G01S7/40G01S7/497G01S13/931G01S17/931G01B11/02B60W40/06G01S7/4972B60W2420/408G01S7/4802G06T7/73G06T7/80G06T2207/10028G06T2207/30256G06T2207/30244
Inventor CHIBA, MOTOKI
Owner HONDA MOTOR CO LTD